version: 66.12
glider: 141
mission: 23
dive: 59
start: 8 31 115 9 57 15
data:
$ID,141
$MISSION,23
$DIVE,59
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,350
$T_ABORT,1500
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52033
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,50
$PITCH_MAX,3800
$C_PITCH,2715
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2475
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3127
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-33.834953
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543633
$SEABIRD_T_H,0.00062237249
$SEABIRD_T_I,2.1446129e-05
$SEABIRD_T_J,2.055453e-06
$SEABIRD_C_G,-10.134171
$SEABIRD_C_H,1.1439899
$SEABIRD_C_I,-0.0013638148
$SEABIRD_C_J,0.00018835191
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,310815,043329,835.4670,8514.0488,301,99.0,301,-1.9,0.5,52.1,5,12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.08
$_SM_ANGLEo,-72.2
$GPS2,310815,095640,833.4726,8513.6396,69,99.0,109,-1.9,0.9,85.5,5,-1.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,W1
$TGT_LATLONG,800.000,8500.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,158.9,66848,-27.2,-10.000,-30.00,965
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,27,-1.10,-63.0,8,2676,995,1093,0.0,0.0,0,118,0.00,0.00,-86.38,0.000,16390,0.000,0.000,8,2677,3385,3442,3328,0,0,0,0,0,0,14.94,13.76,14.97
$GC,124,-1.10,-120.4,8,2676,3442,3329,4.8,-3.9,9,147,10.98,2.30,-3.72,0.000,18948,0.409,0.073,2354,1241,3622,3678,3566,0,0,0,0,0,0,14.50,13.75,14.79
$GC,177,-1.10,-120.4,2354,1241,3676,3566,29.2,-43.2,18,184,0.00,2.28,0.00,0.000,1030,0.000,0.058,2347,2650,3622,3676,3568,0,0,0,0,0,0,14.83,14.75,14.85
$GC,494,-1.10,-120.4,2346,2650,3676,3569,148.9,-30.5,37,500,0.00,2.28,0.00,0.000,260,0.000,0.068,2336,4048,3622,3676,3569,0,0,0,0,0,0,15.04,14.81,15.08
$GC,733,-1.10,-120.4,2335,4045,3676,3573,204.8,-20.0,83,738,0.00,2.15,0.00,0.000,1030,0.000,0.032,2336,2647,3624,3676,3572,0,0,0,0,0,0,14.97,14.91,14.98
$GC,1052,-1.10,-120.4,2336,2646,3676,3573,262.9,-18.1,98,1058,0.00,2.30,0.00,0.000,260,0.000,0.081,2326,4038,3625,3676,3574,0,0,0,0,0,0,15.11,14.86,15.14
$GC,1163,-1.10,-120.4,2325,4037,3676,3574,285.1,-19.9,119,1169,0.15,2.15,0.00,0.000,3078,0.326,0.034,2354,2639,3625,3676,3574,0,0,0,0,0,0,14.71,14.95,14.95
$GC,1486,-1.10,-120.4,2354,2638,3674,3574,341.5,-17.6,127,1491,0.00,2.17,0.00,0.000,516,0.000,0.053,2355,1247,3623,3673,3574,0,0,0,0,0,0,15.14,14.93,15.17
$GC,1516,-1.10,-120.4,2352,1250,3673,3573,346.9,-16.8,132,1521,0.00,2.22,0.00,0.000,1030,0.000,0.054,2347,2657,3623,3673,3573,0,0,0,0,0,0,15.01,14.93,15.03
$GC,1856,-1.10,-120.4,2347,2657,3667,3573,401.6,-16.0,144,1862,0.00,2.28,0.00,0.000,260,0.000,0.081,2337,4045,3619,3666,3573,0,0,0,0,0,0,15.16,14.92,15.19
$GC,1891,-1.10,-120.4,2336,4045,3666,3573,407.4,-16.2,150,1898,0.00,2.15,0.00,0.000,1030,0.000,0.034,2337,2647,3620,3666,3574,0,0,0,0,0,0,15.04,14.98,15.05
$GC,2228,-1.10,-120.4,2336,2646,3659,3573,464.0,-16.8,161,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2646,3616,3659,3573,0,0,0,0,0,0,15.16,15.20,15.19
$GC,2528,-1.10,-120.4,2336,2646,3654,3573,513.0,-16.3,166,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2646,3613,3653,3574,0,0,0,0,0,0,15.17,15.21,15.21
$GC,2828,-1.10,-120.4,2336,2645,3648,3572,560.1,-15.7,171,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2645,3610,3648,3572,0,0,0,0,0,0,15.18,15.22,15.21
$GC,3128,-1.10,-120.4,2336,2645,3644,3570,605.1,-15.0,176,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,2336,2645,3607,3644,3570,0,0,0,0,0,0,15.18,15.22,15.21
$GC,3428,-1.10,-120.4,2336,2645,3640,3567,650.4,-15.2,181,3433,0.00,2.20,0.00,0.000,516,0.000,0.057,2336,1250,3603,3639,3568,0,0,0,0,0,0,15.17,14.95,15.21
$GC,3458,-1.10,-120.4,2336,1250,3639,3567,655.0,-15.8,186,3465,0.15,2.25,0.00,0.000,3078,0.308,0.063,2357,2644,3603,3639,3568,0,0,0,0,0,0,14.74,14.93,14.98
$GC,3801,-1.10,-120.4,2357,2645,3634,3565,703.3,-14.2,198,3807,0.00,2.33,0.00,0.000,260,0.000,0.089,2348,4043,3599,3634,3565,0,0,0,0,0,0,15.17,14.90,15.21
$GC,3846,-1.10,-120.4,2348,4043,3634,3560,710.5,-15.7,206,3853,0.00,2.17,0.00,0.000,1030,0.000,0.039,2349,2646,3599,3634,3564,0,0,0,0,0,0,15.04,14.97,15.06
$GC,4537,-1.10,-120.4,2348,2646,3628,3560,813.0,-15.1,227,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2646,3594,3628,3561,0,0,0,0,0,0,15.17,15.21,15.20
$GC,5131,-1.10,-120.4,2348,2645,3623,3557,896.0,-13.7,232,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2645,3589,3622,3557,0,0,0,0,0,0,15.17,15.21,15.21
$GC,5731,-1.10,-120.4,2348,2645,3618,3554,981.5,-14.4,237,5737,0.00,2.25,0.00,0.000,516,0.000,0.065,2348,1244,3585,3617,3554,0,0,0,0,0,0,15.17,14.92,15.21
$GC,5782,-1.10,-120.4,2348,1244,3617,3554,989.1,-14.5,247,5786,0.00,2.08,0.00,0.000,1027,0.000,0.066,2344,2524,3585,3617,3554,0,0,0,0,0,0,28.83,15.19,28.83
$STATE,5787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5787,begin apogee
$GC,5796,-0.20,0.0,2340,2523,3616,3554,990.1,-14.9,248,5888,1.10,0.00,87.93,2.061,10246,0.259,0.000,2641,2524,3126,3082,3171,0,0,0,0,0,0,14.71,14.31,13.59
$STATE,5890,end apogee,CONTROL_FINISHED_OK
$STATE,5890,begin climb
$GC,5894,1.10,120.4,2641,2524,3081,3169,990.1,0.0,248,5994,1.35,0.00,95.62,2.021,10246,0.132,0.000,3069,2523,2635,2575,2695,0,0,0,0,0,0,14.30,14.13,13.44
$GC,6507,1.10,120.4,3069,2524,2579,2680,892.7,18.4,254,6508,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2524,2630,2580,2680,0,0,0,0,0,0,14.92,14.97,14.95
$GC,7106,1.10,120.4,3069,2524,2580,2673,776.7,19.3,259,7112,0.00,2.30,0.00,0.000,260,0.000,0.096,3069,3879,2627,2582,2673,0,0,0,0,0,0,15.04,14.78,15.06
$GC,7186,1.10,120.4,3069,3878,2581,2670,759.7,21.5,275,7190,0.00,2.28,0.00,0.000,1030,0.000,0.057,3079,2481,2626,2581,2671,0,0,0,0,0,0,14.91,14.83,14.97
$GC,7829,1.10,120.4,3079,2481,2580,2666,635.3,18.9,290,7835,0.00,2.38,0.00,0.000,260,0.000,0.095,3079,3876,2624,2582,2666,0,0,0,0,0,0,15.09,14.81,15.12
$GC,7873,1.10,120.4,3079,3876,2582,2665,626.3,20.6,299,7880,0.00,2.28,0.00,0.000,1030,0.000,0.056,3089,2467,2623,2582,2665,0,0,0,0,0,0,14.95,14.88,14.98
$GC,8189,1.10,120.4,3089,2467,2582,2664,567.2,18.5,307,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2467,2623,2582,2664,0,0,0,0,0,0,15.10,15.14,15.14
$GC,8489,1.10,120.4,3089,2467,2582,2663,513.0,18.0,312,8495,0.00,2.40,0.00,0.000,260,0.000,0.090,3090,3889,2622,2582,2663,0,0,0,0,0,0,15.11,14.83,15.15
$GC,8529,1.10,120.4,3089,3889,2583,2663,504.7,20.7,320,8535,0.15,2.28,0.00,0.000,5126,0.378,0.055,3074,2475,2623,2583,2663,0,0,0,0,0,0,14.62,14.89,14.92
$GC,8850,1.10,120.4,3074,2475,2583,2662,446.7,18.0,329,8855,0.00,2.38,0.00,0.000,260,0.000,0.091,3073,3879,2622,2583,2662,0,0,0,0,0,0,15.12,14.82,15.16
$GC,8890,1.10,120.4,3073,3879,2585,2661,438.9,19.8,337,8896,0.00,2.25,0.00,0.000,1030,0.000,0.054,3081,2473,2626,2591,2661,0,0,0,0,0,0,14.92,14.88,14.95
$GC,9209,1.10,120.4,3081,2472,2583,2661,384.2,16.7,346,9217,0.00,2.40,0.00,0.000,260,0.000,0.093,3081,3879,2622,2584,2661,0,0,0,0,0,0,15.15,14.83,15.16
$GC,9306,1.10,120.4,3081,3879,2583,2660,366.6,18.6,365,9312,0.00,2.28,0.00,0.000,1030,0.000,0.054,3091,2466,2621,2583,2660,0,0,0,0,0,0,14.97,14.89,15.00
$GC,9631,1.10,120.4,3091,2466,2584,2659,312.6,16.7,375,9637,0.00,2.40,0.00,0.000,260,0.000,0.089,3091,3883,2622,2584,2660,0,0,0,0,0,0,15.13,14.84,15.16
$GC,9656,1.10,120.4,3091,3883,2584,2659,308.2,18.2,380,9662,0.00,2.28,0.00,0.000,1030,0.000,0.053,3102,2464,2621,2584,2659,0,0,0,0,0,0,14.98,14.92,15.01
$GC,9991,1.10,120.4,3101,2464,2584,2659,251.3,17.0,392,9996,0.12,2.28,0.00,0.000,4612,0.367,0.072,3083,1073,2621,2584,2659,0,0,0,0,0,0,14.62,14.85,14.81
$GC,10009,1.10,120.4,3083,1073,2586,2657,248.4,16.3,395,10015,0.00,2.30,0.00,0.000,1030,0.000,0.063,3084,2490,2621,2586,2657,0,0,0,0,0,0,14.98,14.88,15.00
$GC,10335,1.10,128.7,3083,2489,2586,2656,210.0,9.1,418,10346,0.00,2.40,4.50,0.904,8452,0.000,0.090,3083,3882,2602,2567,2638,0,0,0,0,0,0,15.12,14.88,14.26
$GC,10579,1.10,135.2,3083,3884,2572,2638,180.7,9.3,466,10593,0.00,2.22,7.25,1.006,9222,0.000,0.049,3094,2471,2576,2544,2608,0,0,0,0,0,0,14.92,14.88,14.36
$GC,10896,1.11,186.1,3094,2471,2537,2607,160.3,4.6,485,10938,0.00,2.45,34.75,1.035,8452,0.000,0.089,3094,3875,2367,2322,2413,0,0,0,0,0,0,15.08,14.69,14.28
$GC,11168,1.11,186.1,3093,3875,2321,2412,130.2,13.5,539,11175,0.15,2.25,0.00,0.000,5126,0.348,0.047,3076,2468,2367,2322,2412,0,0,0,0,0,0,14.56,14.78,14.81
$GC,11479,1.11,233.9,3076,2468,2325,2410,108.3,4.9,556,11517,0.00,2.40,33.35,0.966,8452,0.000,0.080,3076,3888,2171,2106,2237,0,0,0,0,0,0,15.03,14.62,14.26
$GC,11707,1.12,268.1,3076,3887,2111,2231,93.5,6.4,601,11739,0.00,2.25,24.50,0.944,9222,0.000,0.043,3084,2470,2029,1947,2112,0,0,0,0,0,0,14.83,14.77,14.23
$GC,12057,1.12,268.1,3083,2470,1952,2110,62.4,10.5,626,12064,0.00,2.35,0.00,0.000,260,0.000,0.078,3085,3881,2031,1952,2110,0,0,0,0,0,0,15.00,14.76,15.02
$GC,12293,1.12,268.1,3084,3882,1962,2104,34.4,12.7,673,12299,0.00,2.22,0.00,0.000,1030,0.000,0.041,3091,2473,2033,1962,2104,0,0,0,0,0,0,14.90,14.85,14.92
$STATE,12555,end climb,SURFACE_DEPTH_REACHED
$STATE,12555,begin surface coast
$FINISH,2.2,0.000000
$STATE,12578,end surface coast,CONTROL_FINISHED_OK
$STATE,12578,begin surface
$SM_CCo,12602,92.20,0.052,0,0,1087,500.17
$SM_GC,3.08,8.45,0.30,92.20,0.060,0.094,0.052,39,2664,1087,-8.30,-0.85,500.17,0,0,0,0,0,0,14.86,14.87,14.87
$IRIDIUM_FIX,830.85,8516.17,310815,042741
$TT8_MAMPS,0.023219,0.023219
$HUMID,43.10
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,24.50
$XPDR_PINGS,1
$SC_FREEKB,4004064
$24V_AH,13.44,25.655
$10V_AH,13.60,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.600,86.850,287.900,92.200,0.000,0.000,0.000,258.125,0.250,0.000,111.631,798.440,10067.792,524.622,1390.268,458.513,0.000,1390.426,0.000,1039.118,0.000,0.545,0.000
$DEVICE_MAMPS,408.510,95.625,2060.910,52.020,0.000,0.000,0.000,227.970,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12572.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,2.249,0.000,0.000,0.000
$MEM,261152
$DATA_FILE_SIZE,26728,703
$CAP_FILE_SIZE,108405,0
$CFSIZE,260034560,243617792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142,103.57,1
$GPS,310815,133309,832.644,8514.723,168,2.2,208,-1.9,1.0,78.7,5,15.5